Hardware Demo of a Digital PID Controller

Gregory L. Holst

3.6K subscribers

867K views 6 years ago

The demonstration in this video will show you the effect of proportional, derivative, and integral control on a real system. It's a DC motor connected to an optical rotary encoder (quadrature) and is controlled by a digital control loop implemented on a TI Launch Pad MSP432. It uses a seri …

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Oscillates a little and overshoots quite a bit

Ok! The oscillations are gone and the steady state error is ok

Now, how do we get rid of the rest of the steady state error?

Integral Control!

You should be able to see the controller bring the arm back to the exact same position every time

The key here is that this is a REAL system and not an ideal one. To fix this, we need anti-windup code.

Oscillates a little and overshoots quite a bit

Ok! The oscillations are gone and the steady state error is ok

Now, how do we get rid of the rest of the steady state error?

Integral Control!

You should be able to see the controller bring the arm back to the exact same position every time

The key here is that this is a REAL system and not an ideal one. To fix this, we need anti-windup code.

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Hardware Demo of a Digital PID Controller

Gregory L. Holst

18K

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867,865

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2015

Dec 29

The demonstration in this video will show you the effect of proportional, derivative, and integral control on a real system. It's a DC motor connected to an optical rotary encoder (quadrature) and is controlled by a digital control loop implemented on a TI Launch Pad MSP432. It uses a series of timers and interrupts to generate the PWM signals to the H-Bridge motor driver, read the pulses from the encoder, and calculate the control effort using a PID control algorithm. It also implements an anti-windup algorithm to improve the system stability since this is a real system and the motor saturates easily. If you listen, you can hear the PWM signal whine as it adjust the current to the motor. When I push on the flag with my hand you will hear it go quiet. That's when the PWM is at 100% duty cycle and the audible PWM AC current going to the motor is now DC. Post a comment if you liked the video! You can download the code, design files, and parts list here: https://github.com/arduinoNube/digita... (out of date: https://sourceforge.net/projects/digi... ) Enjoy! http://www.gregoryholst.com

Oscillates a little and overshoots quite a bit

Ok! The oscillations are gone and the steady state error is ok

Now, how do we get rid of the rest of the steady state error?

Integral Control!